CN110315249A - Space right-angle weld seams shaped zigzag line based on line laser structured light is fitted system - Google Patents
Space right-angle weld seams shaped zigzag line based on line laser structured light is fitted system Download PDFInfo
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- CN110315249A CN110315249A CN201910571217.0A CN201910571217A CN110315249A CN 110315249 A CN110315249 A CN 110315249A CN 201910571217 A CN201910571217 A CN 201910571217A CN 110315249 A CN110315249 A CN 110315249A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
Abstract
The present invention provides the space right-angle weld seams shaped zigzag lines based on line laser structured light to be fitted system, proposes a kind of fitting algorithm of complicated weld seam for space, and is integrated into the control system of weld seam fitting system.Scanner is fixed on to the end of welding robot, the relative altitude position of adjustment and workpiece to be welded with fixture first；Welding robot drives scanner to move horizontally, the line laser for keeping scanner to issue is vertical with the holding of the weld seam of workpiece to be welded, until line laser covers a surface to be welded, saves scan data and be uploaded to control system, positioner drives workpiece to be welded to rotate 90 ° at this time；Until scanning through four faces of workpiece to be welded；Control system removes the invalid number strong point in four groups of data respectively first, then is spliced to obtain seam track by four groups of data, then extract the edge of seam track, finally obtains key point；Key point is transferred to welding robot by control system in two forms, and control system manipulates welding robot and carries out corresponding welding instruction.
Description
Technical field
The present invention relates to laser aiming welding technology fields, and in particular to the space right-angle broken line weldering based on line laser structured light
Stitch fitting system.
Background technique
Traditional welding robot is merely able to meet the weldering of fixed position using the method for teaching playback or off-line programing
It connects, and needs the workpiece accuracy of manufacture and assembly precision high.During actual welding, workpiece is constantly transported in pipelined fashion
To weld, during which the physical location of workpiece inevitably can and desired locations there is deviation, in order to enable welding robot can from
Dynamic correction track, has industrially passed through and has obtained position of the Weld pipe mill relative to robot using certain laser sensing technology
And posture.The many components of Nowadays, Container shipping all realize automatic welding, but the complexity that corner post component is distributed due to its weld seam
Property is not able to achieve always automatic welding, and existing technology is only applicable to simple weld seam, such as straight bead, for complicated weld seam
There are also to be developed for processing technique.
Summary of the invention
The technical problem to be solved in the present invention is that for the above-mentioned technology for lacking the processing mode to complicated weld seam at present
Problem provides the space right-angle weld seams shaped zigzag line fitting system based on line laser structured light and solves above-mentioned technological deficiency.
Space right-angle weld seams shaped zigzag line based on line laser structured light is fitted system, is carried out based on any one automatic welding platform
Work, including positioner, scanner, welding robot and control system.
Wherein, positioner is for controlling indexing motion of the workpiece in scanning process and welding process, the angle rotated every time
Degree is 90 °；Scanner is scanned for treating welder's part；Welding robot on automatic welding platform for treating welder's part
It is welded；Control system for controlling positioner, scanner and welding robot are opened and stop working, be also used to acquire to
Weldering workpiece end face information simultaneously carries out data processing to obtain the weld data of workpiece to be welded；
Based on line laser structured light space right-angle weld seams shaped zigzag line fitting system the course of work include:
S1, the end that scanner is fixed on to welding robot with fixture, control system control welding robot end and move
The top of workpiece to be welded is moved, the relative altitude position of adjustment and workpiece to be welded makes workpiece to be welded be maintained at scanner
In scanning range, then control module sets the scanner for issuing line laser, and scanner is enable to export the base of weld seam
This shape information, preparation start to scan；
S2, scanner start to scan, and welding robot drives scanner to move horizontally, and the line for keeping scanner to issue swashs
Light is vertical with the holding of the weld seam of workpiece to be welded, until line laser covers a surface to be welded, saves scan data and is uploaded to control
System, positioner drives workpiece to be welded to rotate 90 ° at this time；
S3, S2 is repeated, until scanning through four faces of workpiece to be welded, has saved four groups of data at this time, be four respectively
The weld data information in face；
S4, control system remove the invalid number strong point in four groups of data respectively first, are then transformed into four groups of data together
Spliced in one plane, a complete seam track is obtained, then extract the edge of seam track, finally to weld edge
Region segmentation is carried out to obtain key point；
Key point obtained in S4 is transferred to welding robot, control system manipulation by S5, control system in two forms
Welding robot carries out corresponding welding instruction.
Further, the basic configuration information of weld seam includes location information and elevation information in S1.
Further, two kinds of forms include form of straight lines and arc form in S5, and the key point of form of straight lines includes starting point
And terminal, the key point of arc form include starting point, terminal and intermediate point.
Further, specifically, control system includes scan data module, fitting weld seam module and welding operation module；
Scan data module carries out data preservation for controlling scanner scanning corner post weld data；Be fitted weld seam module for pair
Corner post weld data carries out data processing, and the final goal of data processing is the effective information for obtaining corner post weld seam；Welding operation
Module, which is used to for the effective information of the corner post weld seam to be sent to welding robot, carries out seam track guiding.
Further, being fitted the detailed process that weld seam module handles corner post weld data includes:
Invalid data rejecting is carried out to the corner post weld data scanned using Grubbs standard first, then by adjacent two
The data in face, which are transformed into a plane, is spliced, and obtains a complete weld seam song after being gradually completing the splicing in four faces
Line, and the data for using triangulation to be overlapped when extracting weld edge to remove splicing, finally utilize the side of region segmentation
Weld seam is divided into straightway and arc section by method, straight line endpoint is extracted, any point on circular arc endpoint and circular arc, as last
It is transferred to the movement instruction of robot.
Compared with prior art, the beneficial effects of the present invention are: combine line laser structured light technology, artificial intelligence etc. side
The technology in face develops a kind of space right-angle broken line weldering based on line laser structured light for the purpose of based on line laser structured light weld seam
Approximating method is stitched, and derives the matched path of welding program used.The method of difference and arc sensing technology identification weld seam,
The best advantage is that can handle irregular weldment, the requirement to workpieces processing is reduced, is given birth to improving
Produce efficiency and reduce manpower consumption etc. has positive effect.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is that the present invention is based on the space right-angle weld seams shaped zigzag lines of line laser structured light to be fitted working-flow figure；
Fig. 2 is present invention fitting weld seam flow chart.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.
Space right-angle weld seams shaped zigzag line based on line laser structured light is fitted system, is carried out based on any one automatic welding platform
Work, including positioner, scanner, welding robot and control system.
Wherein, positioner is for controlling indexing motion of the workpiece in scanning process and welding process, the angle rotated every time
Degree is 90 °；Scanner is scanned for treating welder's part；Welding robot on automatic welding platform for treating welder's part
It is welded；Control system for controlling positioner, scanner and welding robot are opened and stop working, be also used to acquire to
Weldering workpiece end face information simultaneously carries out data processing to obtain the weld data of workpiece to be welded.
As shown in Figure 1, the space right-angle weld seams shaped zigzag line fitting system work process based on line laser structured light includes:
S1, the end that scanner is fixed on to welding robot with fixture first, control system control welding robot end
End is moved to the top of workpiece to be welded, and the relative altitude position of adjustment and workpiece to be welded makes workpiece to be welded be maintained at scanning
In the scanning range of instrument, then control module sets the scanner for issuing line laser, and scanner is enable to export weld seam
Basic configuration information, preparation start to scan；
S2, scanner start to scan, and welding robot drives scanner to move horizontally, and the line for keeping scanner to issue swashs
Light is vertical with the holding of the weld seam of workpiece to be welded, until line laser covers a surface to be welded, saves scan data and is uploaded to control
System, positioner drives workpiece to be welded to rotate 90 ° at this time；
S3, S2 is repeated, until scanning through four faces of workpiece to be welded, has saved four groups of data at this time, be four respectively
The weld data information in face；
S4, control system remove the invalid number strong point in four groups of data respectively first, are then transformed into four groups of data together
Spliced in one plane, a substantially complete seam track is obtained, then extract the edge of seam track, finally to weld seam
Edge carries out region segmentation to obtain key point；
Key point obtained in S4 is transferred to welding robot, control system manipulation by S5, control system in two forms
Welding robot carries out the welding instruction of straight line or circular arc, and two of them form includes that (key point is starting point and end to form of straight lines
Point) and arc form (key point is starting point, terminal and intermediate point).
Specifically, control system includes scan data module, fitting weld seam module and welding operation module, these three modules
Relatively independent and interrelated, scan data module is the premise of software operation, is the guarantor of whole system initialization and stability
Effective information can be carried out operation arrangement in combination with fitting weld seam module, finally issue welding operation module by card.Scan number
According to module for controlling scanner scanning corner post weld data, and carry out data preservation；Weld seam module is fitted to be used to weld corner post
It stitches data and carries out data processing, the final goal of data processing is the effective information for obtaining corner post weld seam；Welding operation module is used
Seam track guiding is carried out in the effective information of the corner post weld seam is sent to welding robot.
As shown in Fig. 2, the detailed process that fitting weld seam module handles corner post weld data includes:
For the corner post weld data scanned, the corner post weld data scanned is carried out using Grubbs standard first
Invalid data is rejected, and then the data of two adjacent surfaces are transformed into a plane and are spliced, the spelling in four faces is gradually completing
The number for obtaining a complete Welded Joint Curve after connecing, and triangulation being used to be overlapped when extracting weld edge to remove splicing
According to, weld seam is finally divided into straightway and arc section using the method for region segmentation, extract straight line endpoint, circular arc endpoint and
Any point on circular arc, as the movement instruction for being eventually transferred to robot.Due to only needing to provide welding when robot welding
The beginning and end coordinate of instruction does not need whole data points being transferred to robot, needs to carry out region to weld edge
Segmentation is to obtain key point.
Present invention incorporates the technologies of line laser structured light technology, artificial intelligence etc., to be based on line laser structured light weld seam
For the purpose of, a kind of space right-angle weld seams shaped zigzag line approximating method based on line laser structured light is developed, and derive matched use
Path of welding program.The method of difference and arc sensing technology identification weld seam, the best advantage is that can be to not
Regular weldment is handled, and the requirement to workpieces processing is reduced, to improve production efficiency and reduce manpower consumption etc. tool
There is positive effect.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (5)
1. the space right-angle weld seams shaped zigzag line based on line laser structured light is fitted system, work is carried out based on any one automatic welding platform
Make, which is characterized in that including positioner, scanner, welding robot and control system.
Wherein, for controlling indexing motion of the workpiece in scanning process and welding process, the angle rotated every time is positioner
90°；Scanner is scanned for treating welder's part；Welding robot on automatic welding platform for treating the progress of welder's part
Welding；Control system opens and stops working for controlling positioner, scanner and welding robot, is also used to acquire to welder
Part end face information simultaneously carries out data processing to obtain the weld data of workpiece to be welded；
Based on line laser structured light space right-angle weld seams shaped zigzag line fitting system the course of work include:
S1, the end that scanner is fixed on to welding robot with fixture, control system control welding robot end are moved to
The top of workpiece to be welded, the relative altitude position of adjustment and workpiece to be welded, makes workpiece to be welded be maintained at the scanning of scanner
In range, then control module sets the scanner for issuing line laser, and scanner is enable to export the fundamental form of weld seam
Shape information, preparation start to scan；
S2, scanner start to scan, welding robot drive scanner move horizontally, keep scanner issue line laser with
The weld seam of workpiece to be welded keeps vertical, until line laser covers a surface to be welded, saves scan data and is uploaded to control system,
Positioner drives workpiece to be welded to rotate 90 ° at this time；
S3, S2 is repeated, until scanning through four faces of workpiece to be welded, has saved four groups of data at this time, be four faces respectively
Weld data information；
S4, control system remove the invalid number strong point in four groups of data respectively first, are then transformed into four groups of data same
Spliced in plane, obtain a complete seam track, then extract the edge of seam track, finally weld edge is carried out
Region segmentation is to obtain key point；
Key point obtained in S4 is transferred to welding robot, control system manipulation welding by S5, control system in two forms
Robot carries out corresponding welding instruction.
2. the space right-angle weld seams shaped zigzag line according to claim 1 based on line laser structured light is fitted system, which is characterized in that
The basic configuration information of weld seam includes location information and elevation information in S1.
3. the space right-angle weld seams shaped zigzag line according to claim 1 based on line laser structured light is fitted system, which is characterized in that
Two kinds of forms include form of straight lines and arc form in S5, and the key point of form of straight lines includes beginning and end, arc form
Key point includes starting point, terminal and intermediate point.
4. the space right-angle weld seams shaped zigzag line according to claim 1 based on line laser structured light is fitted system, which is characterized in that
Specifically, control system includes scan data module, fitting weld seam module and welding operation module；Scan data module is for controlling
Scanner scanning corner post weld data processed, and carry out data preservation；Fitting weld seam module is for counting corner post weld data
According to processing, the final goal of data processing is the effective information for obtaining corner post weld seam；Welding operation module is used for the corner post
The effective information of weld seam is sent to welding robot and carries out seam track guiding.
5. the space right-angle weld seams shaped zigzag line according to claim 4 based on line laser structured light is fitted system, which is characterized in that
Being fitted the detailed process that weld seam module handles corner post weld data includes:
Invalid data rejecting is carried out to the corner post weld data scanned using Grubbs standard first, then by two adjacent surfaces
Data, which are transformed into a plane, is spliced, and obtains a complete Welded Joint Curve after being gradually completing the splicing in four faces, and
The data for using triangulation to be overlapped when extracting weld edge to remove splicing will finally be welded using the method for region segmentation
Seam is divided into straightway and arc section, extracts straight line endpoint, any point on circular arc endpoint and circular arc, as being eventually transferred to
The movement instruction of robot.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111729811A (en) * | 2019-10-30 | 2020-10-02 | 湖南天桥嘉成智能科技有限公司 | Glue coating equipment and glue coating method for motor stator of urban rail and standard traction motor |
| CN113399784A (en) * | 2021-07-09 | 2021-09-17 | 武汉武重机床有限公司 | Workpiece processing control method, device, equipment and storage medium |
| CN113909765A (en) * | 2021-11-03 | 2022-01-11 | 深圳前海瑞集科技有限公司 | Guide welding system |
| CN114406563A (en) * | 2022-03-14 | 2022-04-29 | 无锡砺成智能装备有限公司 | Automatic welding system and welding method |
| CN114669831A (en) * | 2022-05-11 | 2022-06-28 | 法孚低温设备(苏州)有限公司 | Automatic welding system and method applied to plate-fin heat exchanger |
| CN117644290A (en) * | 2024-01-29 | 2024-03-05 | 宁波吉宁汽车零部件有限公司 | High-strength steel laser flying welding process and welding system |
| CN114669831B (en) * | 2022-05-11 | 2024-04-26 | 法孚低温设备(苏州)有限公司 | Automatic welding system and method applied to plate-fin heat exchanger |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111729811A (en) * | 2019-10-30 | 2020-10-02 | 湖南天桥嘉成智能科技有限公司 | Glue coating equipment and glue coating method for motor stator of urban rail and standard traction motor |
| CN113399784A (en) * | 2021-07-09 | 2021-09-17 | 武汉武重机床有限公司 | Workpiece processing control method, device, equipment and storage medium |
| CN113909765A (en) * | 2021-11-03 | 2022-01-11 | 深圳前海瑞集科技有限公司 | Guide welding system |
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| CN114669831A (en) * | 2022-05-11 | 2022-06-28 | 法孚低温设备(苏州)有限公司 | Automatic welding system and method applied to plate-fin heat exchanger |
| CN114669831B (en) * | 2022-05-11 | 2024-04-26 | 法孚低温设备(苏州)有限公司 | Automatic welding system and method applied to plate-fin heat exchanger |
| CN117644290A (en) * | 2024-01-29 | 2024-03-05 | 宁波吉宁汽车零部件有限公司 | High-strength steel laser flying welding process and welding system |
| CN117644290B (en) * | 2024-01-29 | 2024-04-05 | 宁波吉宁汽车零部件有限公司 | High-strength steel laser flying welding process and welding system |
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Application publication date: 20191011 |